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A new generation of practical, low-cost indoor robots is now using wide-angle cameras to aid navigation, but usually this is limited to position estimation via sparse feature-based SLAM. Such robots usually have little global sense of the dimensions, demarcation or identities of the rooms they are in, information which would be very useful to enable behaviour with much more high level intelligence...
Real-time monocular SLAM is increasingly mature and entering commercial products. However, there is a divide between two techniques providing similar performance. Despite the rise of ‘dense’ and ‘semi-dense’ methods which use large proportions of the pixels in a video stream to estimate motion and structure via alternating estimation, they have not eradicated feature-based methods which use a significantly...
As a basis for autonomous operation, Unmanned Aerial Systems (UAS) require an on-board state estimation that achieves both high accuracy as well as robustness with respect to certain conditions. We present a multi-sensor fusion framework based on Extended Kalman Filtering (EKF) which is light-weight enough to run on-board small unmanned airplanes using measurements from a MEMS based Inertial Measurement...
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